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Overview

This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers, and students, in fields of engineering and mathematics related to robot theory, design, control and application.

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Papers from a June 2000 symposium held in Slovenia present recent advances in the theory, design, control, and application of robotic systems intended for manipulation, manufacturing, automation, surgery, locomotion, and biomechanics. Issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, and over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of- freedom systems. Lenarcic is affiliated with J. Stefan Institute, Slovenia. Stanisic teaches aerospace and mechanical engineering at the University of Notre Dame. Annotation c. Book News, Inc., Portland, OR (booknews.com)

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